Deduction of the Rocker-type Track Suspension Configurations and Their Applications to Coal Mine Rescue Robots
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摘要: 为使机器人行走机构既能被动地适应崎岖的非结构地形，又能克服台阶、沟道等规则障碍，将履带行走机构引入摇杆式移动系统中．通过增加摆臂履带和固定关节角，推衍了多种型式的摇杆式履带悬架构型，分析了各悬架构型的特点．结合煤矿井下非结构的地形环境与爆炸性气体环境，提出了一种采用对称的W形履带悬架的摇杆式履带机器人移动系统，并制作了样机．分析了该移动系统的抗倾覆、攀爬台阶、下台阶、跨越沟道等越障特性并进行了性能试验．性能分析与样机试验表明，摇杆式履带机器人移动平台可适应复杂的非结构地形，具有良好的越障性能，可攀爬100mm高的台阶，下450mm高的台阶，跨越260mm宽的沟道．Abstract: To obtain robot's locomotion mechanisms which have good passive adaptability to rugged unstructured terrain and strong obstacle-surmounting capabilities to regular obstacles such as steps and ditches,the track is introduced into the rocker-type robot mobile system.Various configurations of the rocker-type track suspensions are obtained through adding arm-tracks and fixing joint angles,and their characteristics are analyzed.According to the unstructured terrain environments and the explosive gas atmosphere environment of underground coal mine,a rocker-type tracked mobile system using a symmetrical W-shaped track suspension is presented,and the mobile platform prototype is developed.Obstacles-surmounting capabilities of this mobile system,such as anti-overturning,channel-crossing,stair-climbing,down-stair,are analyzed.The capability analysis and test results indicate that the platform is of good adaptability to complex unstructured terrains and of strong obstacles-surmounting capabilities,and it can climb up a 100 mm-high step,climb down a 450 mm-high step,and cross a 260 mm-wide ditch.
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